CN216030852U - Sluice wire rope climbing and laser cleaning operation robot - Google Patents
Sluice wire rope climbing and laser cleaning operation robot Download PDFInfo
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- CN216030852U CN216030852U CN202122593217.6U CN202122593217U CN216030852U CN 216030852 U CN216030852 U CN 216030852U CN 202122593217 U CN202122593217 U CN 202122593217U CN 216030852 U CN216030852 U CN 216030852U
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Abstract
The utility model discloses a sluice steel wire rope climbing and laser cleaning operation robot, which relates to the technical field of special mechanical equipment in the water conservancy industry and can comprise: the climbing device can clamp the steel wire rope and move up and down along the steel wire rope; the robot frame comprises a left frame and a right frame, one end of the left frame is hinged with one end of the right frame, the other end of the left frame and the other end of the right frame can be detachably connected, and the climbing device is installed in the robot frame; the circumferential driving device is arranged at the top of the robot frame and can drive the robot frame to rotate around the steel wire rope; the laser cleaning device is arranged at the top of the robot frame and can clean the steel wire rope; and a control box capable of controlling the devices. The utility model can improve the quality and efficiency of cleaning the dirt of the steel wire rope and can realize 360-degree dead-angle-free cleaning of the steel wire rope.
Description
Technical Field
The utility model relates to the technical field of special mechanical equipment in the water conservancy industry, in particular to a sluice steel wire rope climbing and laser cleaning operation robot.
Background
The water gate is widely applied to agricultural rural areas and urban river channels as a common flood prevention and water shutoff device. The water gate is usually drawn and lifted by a steel wire rope, and because the water gate usually works outdoors and is usually blown by wind and rain, exposed to the sun and rain, and influenced by intermittent operation, the steel wire rope can often cause the problems of grease hardening, corrosion, wire breakage and the like, the water gate needs to be regularly maintained to ensure that the water gate can be opened and closed when needed.
At present, the maintenance is still finished manually, and the problems of low working efficiency, high labor intensity, safety risk, environmental pollution and the like exist. The laser cleaning technology is a novel cleaning technology which is emerging in recent years, has the advantages of high cleaning speed, no pollution and the like, is widely applied to the fields of industrial rust cleaning, cultural relic protection and the like, and has good market prospect. Therefore, the steel wire rope climbing robot capable of carrying the laser cleaning tool is designed and developed to solve the problems of manual cleaning, and the steel wire rope climbing robot is significant and valuable.
Disclosed in patent CN211869536U an imitative inchworm formula wire rope climbing device, this robot is cylindrical structure, comprises two parts of interior outer frame, presss from both sides tightly through the electro-magnet, drives gear rack through electric control mode control motor and carries out the transmission, realizes that both imitative inchworm formula of interior outer frame scramble the motion in turn. The device has the defects of large occupied space, low climbing speed, weak load carrying capacity, lack of operation tools and safe landing devices and the like, and the application range of the device is influenced.
The utility model discloses a pneumatic type water gate wire rope automatic climbing device that narrow space was used in patent CN112896355A, the device be unilateral climbing structure, constitute by upper and lower two parts, adopt the cylinder to press from both sides tightly and stretch out and draw back, imitate inchworm principle of crawling and realize climbing in turn. The device has compact structure and is suitable for climbing in narrow space and a plurality of parallel steel wire ropes; however, in the practical application process, the device has the defects that the climbing speed is not easy to control, and the device is not beneficial to carrying laser cleaning equipment for operation and the like.
Therefore, it is desirable to provide a novel sluice wire rope climbing and laser cleaning robot to solve the above problems in the prior art.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a sluice steel wire rope climbing and laser cleaning robot, which solves the problems in the prior art, can improve the quality and efficiency of cleaning the dirt of the steel wire rope, and can clean the steel wire rope at 360 degrees without dead angles.
In order to achieve the purpose, the utility model provides the following scheme:
the utility model provides a sluice wire rope climbing and laser cleaning operation robot, which comprises:
the climbing device can clamp the steel wire rope and move up and down along the steel wire rope;
the robot frame comprises a left frame and a right frame, one end of the left frame is hinged with one end of the right frame, the other end of the left frame is detachably connected with the other end of the right frame, and the climbing device is installed in the robot frame;
the circumferential driving device is mounted at the top of the robot frame and can drive the robot frame to rotate around the steel wire rope;
when the left frame and the right frame are enclosed, the climbing device and the circumferential driving device can clamp the steel wire rope, and when the left frame and the right frame are opened, the climbing device and the circumferential driving device can release the steel wire rope;
the laser cleaning device is arranged at the top of the robot frame and can clean the steel wire rope;
the control box, the control box install in the robot frame, climbing device, circumference drive arrangement and laser belt cleaning device all with the control box is connected.
Preferably, the one end of left side frame with the one end of right side frame is passed through the hinge and is articulated, left side frame with right side frame can wind the hinge rotates, the other end of left side frame with the other end of right side frame passes through the locking buckle and connects.
Preferably, the laser cleaning device comprises a laser cleaning head, and the laser cleaning head is mounted at the top of the left frame;
the laser cleaning baffle is installed at the top of the right frame, the laser cleaning baffle and the laser cleaning head are arranged oppositely, and the laser cleaning head and the laser cleaning baffle are respectively located on two sides of the steel wire rope.
Preferably, the climbing device comprises a driving trolley and a driven trolley, the driving trolley and the driven trolley are respectively installed on the left frame and the right frame, and the driving trolley and the driven trolley can be matched with each other to clamp the steel wire rope together.
Preferably, the driving trolley comprises a driving trolley frame, and a direct current speed reducing motor, a driving gear, a driven gear and a driving trolley arc wheel which are arranged on the driving trolley frame; the driving trolley frame is arranged on the left frame, an output shaft of the direct-current speed reduction motor is fixedly connected with the driving gear, the driving gear is meshed with the driven gear, a plurality of arc-shaped wheels of the driving trolley are arranged at equal intervals from top to bottom, and the arc-shaped wheel of the driving trolley at the top is coaxially arranged with the driven gear and is connected with the driven gear through a driven gear supporting shaft;
driven dolly include driven dolly frame and rotate install in driven dolly arc wheel on the driven dolly frame, driven dolly arc wheel from top to bottom is equidistant to be provided with a plurality of, driven dolly arc wheel with drive dolly arc wheel can mutually support, presss from both sides tightly jointly wire rope.
Preferably, the driven trolley frame is further connected with a pressing plate, the driven trolley is provided with a guide shaft, the guide shaft penetrates through the pressing plate, a spring is sleeved on the guide shaft, and the spring is located between the driven trolley frame and the pressing plate; the middle part of the pressing plate is provided with a pressing block, the pressing block is connected with an adjusting screw rod, and the end part of the adjusting screw rod is connected with a lever.
Preferably, the circumferential movement device comprises a front fixed wheel device, a rear fixed wheel device and a lateral movable wheel device, the front fixed wheel device and the rear fixed wheel device are symmetrically installed at the top of the left frame, the lateral movable wheel device is installed at the top of the right frame, and the front fixed wheel device, the rear fixed wheel device and the lateral movable wheel device are distributed at equal angles along the circumferential direction of the steel wire rope;
the front fixed wheel device and the rear fixed wheel device both comprise small rollers, the small rollers are vertically and rotatably mounted on small roller supporting plates through small roller supporting shafts, the small roller supporting plates are mounted on small roller fixing plates, and the small roller fixing plates are mounted at the tops of the left frames;
the lateral movable wheel device comprises a large idler wheel, the large idler wheel is vertically and rotatably arranged on a motor supporting plate, the large idler wheel is also connected with a circumferential motion speed reducing motor, and the circumferential motion speed reducing motor is arranged on the motor supporting plate; the motor supporting plate is arranged on a large roller movable plate, the large roller movable plate is arranged on a large roller fixing plate, and the large roller fixing plate is arranged at the top of the right frame;
big gyro wheel fly leaf is connected with the position control board through the guide bar, the cover is equipped with compression spring on the guide bar, compression spring is located big gyro wheel fly leaf with between the position control board, the position control board is connected with position adjusting bolt.
Preferably, the bottom of the robot frame is further provided with an anti-deviation device, the anti-deviation device comprises a front anti-deviation wheel and a rear anti-deviation wheel, and the front anti-deviation wheel and the rear anti-deviation wheel are symmetrically arranged on the left frame and the right frame respectively;
the front anti-deviation wheel and the rear anti-deviation wheel respectively comprise a roller, the roller is rotatably installed on a roller installation frame through a roller fixing shaft, and the roller installation frame is installed on the robot frame.
Preferably, the bottom in the robot frame is further provided with a downlink safety speed reducer, and the downlink safety speed reducer comprises a V-shaped rubber block, a clamping rod, a fixing plate, a supporting block, an electromagnet and a pressing plate; the fixing plate is fixed on the right frame, the supporting block is installed at the upper part of the fixing plate, two studs are installed on the supporting block, clamping rods are installed on the two studs, and the clamping rods can rotate around the studs; the front portion of the clamping rod is provided with the V-shaped rubber block, the tail portion of the clamping rod is provided with the electromagnet, and the upper portion of the clamping rod is provided with the pressing plate.
Preferably, the control box is fixed on the left frame, and a direct-current power supply, a motor driving system, a control system and a wireless transmission system are arranged in the control box.
Compared with the prior art, the utility model has the following beneficial technical effects:
1. the problems of small left and right climbing space, inconvenient disassembly and the like of the steel wire rope are solved by adopting a cuboid left and right frame structure, and various operation tools can be carried on the steel wire rope;
2. the laser cleaning device is adopted, so that the quality and efficiency of cleaning the steel wire rope dirt are improved;
3. and the circumferential driving device is adopted, so that 360-degree dead-angle-free cleaning of the steel wire rope can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic three-dimensional structure diagram of a sluice wire rope climbing and laser cleaning operation robot;
FIG. 2 is a schematic structural view of a laser cleaning and protecting apparatus according to the present invention;
FIG. 3 is a front view of the robot frame according to the present invention;
FIG. 4 is a schematic view of the back structure of the robot frame of the present invention;
FIG. 5 is a schematic view of the driving cart according to the present invention;
FIG. 6 is a schematic structural view of the anti-deviation device of the present invention;
FIG. 7 is a schematic view of the structure of the circumferential motion device of the present invention;
FIG. 8 is a schematic structural view of a driven trolley according to the present invention;
FIG. 9 is a schematic structural diagram of the descending safety deceleration device of the present invention;
wherein, 1, a steel wire rope, 2, a laser cleaning and protecting device, 3, a robot frame, 4, a driving trolley, 5, a control box, 6, an anti-deviation device, 7, a circumferential driving device, 8, a driven trolley, 9, a descending safety speed reducing device, 20, a laser cleaning device, 21, a laser cleaning baffle plate, 200, a laser cleaning head, 201, an upper fixing plate, 202, a fastening screw, 203, a lower fixing plate, 204, a supporting upright post, 205, a mounting plate, 210, a baffle transverse supporting rod, 211, a baffle, 212, a baffle vertical supporting plate, 30, a left frame, 31, a right frame, 301, a locking buckle, 302, a longitudinal rod, 303, a vertical rod, 304, a transverse rod, 305, a hinge, 400, a driving trolley fixing plate, 401, a direct current speed reducing motor, 402, a motor mounting plate, 403, a driving gear, 404, a driving trolley arc wheel, 405, an arc wheel side mounting plate, 406, a middle arc wheel supporting shaft, 407. a lower arc wheel support shaft, 408, a lower arc wheel support plate, 409, a driven gear, 410, a driven gear support shaft, 60, a front anti-yaw wheel, 61, a rear anti-yaw wheel, 600, a roller, 601, a roller mounting bracket, 602, a roller fixing shaft, 603, a lateral mounting hole, 70, a rear fixed wheel device, 71, a front fixed wheel device, 72, a lateral movable wheel device, 700, a small roller support plate, 701, a small roller fixing plate, 702, a small roller support shaft, 703, a small roller, 720, a large roller, 721, a large roller fixing plate, 722, a large roller movable plate, 723, a fastening screw, 724, a position adjustment plate, 725, a position adjustment bolt, 726, a guide bar, 727, a compression spring, 728, a motor support plate, 729, a circumferential motion deceleration motor, 800, a driven arc wheel, 801, an upper arc wheel support shaft, 802, an intermediate arc wheel support shaft, 803, an arc wheel side support plate, 804. the device comprises a lower arc-shaped wheel supporting shaft, 805, a spring, 806, a guide shaft, 807, an upper arc-shaped wheel supporting plate, 808, a position adjusting screw rod, 809, a lever, 810, a pressing block, 811, a pressing plate, 812, a lower arc-shaped wheel supporting plate, 900, a V-shaped rubber block, 901, a clamping rod, 902, a fastening nut, 903, a fixing plate, 904, a supporting block, 905, an electromagnet, 906, a pressing plate, 907 and a stud.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The utility model aims to provide a sluice steel wire rope climbing and laser cleaning robot, which solves the problems in the prior art, can improve the quality and efficiency of cleaning the dirt of the steel wire rope, and can clean the steel wire rope at 360 degrees without dead angles.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-9, the present embodiment provides a sluice wire rope climbing and laser cleaning operation robot, including:
the climbing device can clamp the steel wire rope 1 and move up and down along the steel wire rope 1 in a climbing manner;
the robot frame 3 comprises a left frame 30 and a right frame 31 which are basically symmetrically arranged, one end of the left frame 30 is hinged with one end of the right frame 31, the other end of the left frame 30 is detachably connected with the other end of the right frame 31, the left frame 30 and the right frame 31 can be opened and enclosed, and the climbing device is installed in the robot frame 3;
the circumferential driving device 7 is arranged at the top of the robot frame 3, and can drive the robot frame 3 to rotate around the steel wire rope 1;
when the left frame 30 and the right frame 31 are enclosed, the climbing device and the circumferential driving device 7 can clamp the steel wire rope 1, and when the left frame 30 and the right frame 31 are opened, the climbing device and the circumferential driving device 7 can release the steel wire rope 1;
the laser cleaning device 20 is arranged at the top of the robot frame 3, and can clean the steel wire rope 1;
In this embodiment, the left frame 30 and the right frame 31 are both constructed by an industrial aluminum profile cross bar 304, a longitudinal bar 302, a vertical bar 303 and the like through angle codes and screws, and a through hole is formed in the middle cross bar 304, so that an arc-shaped wheel support shaft can be conveniently installed and fixed; one end of the left frame 30 and one end of the right frame 31 are connected through a hinge 305, and can rotate 90 degrees around the hinge 305, so that the left frame 30 and the right frame 31 can be conveniently opened and fixed on the steel wire rope 1. The other ends of the left frame 30 and the right frame 31 opposite to the hinge 305 are clamped by a locking buckle 301 to form a closed rectangular robot structure with an internal cavity, and the length, width and height of the closed rectangular robot structure are 280mm, 160mm and 360mm in sequence.
Frame construction about this embodiment adopts the cuboid, and it is little to have solved wire rope 1 climbing left and right sides space to and dismantle inconvenient scheduling problem, and can carry on multiple operation instrument above that.
In this embodiment, the laser cleaning device 20 includes a laser cleaning head 200, and the laser cleaning head 200 is installed on the top of the left frame 30 to perform cleaning operation on the steel wire rope 1; specifically, the laser cleaning device 20 is fixed on the left frame 30 through the mounting plate 205, the mounting plate 205 is fixed on the left frame 30 through bolts, the mounting plate 205 is provided with the support column 204, the support column 204 is provided with the laser head lower fixing plate 203, the laser head lower fixing plate 203 is provided with the laser cleaning head 200 and the laser head upper fixing plate 201, and the laser head upper fixing plate 201 and the laser head lower fixing plate 203 can fix the position of the laser cleaning head 200. A vertical limiting groove is formed at the joint of the laser head upper fixing plate 201 and the laser head lower fixing plate 203, and the laser head upper fixing plate is fixed by a fastening screw 202 penetrating through the limiting groove; the laser head upper fixing plate 201 can move up and down relative to the laser head lower fixing plate 203 to adjust the position, and after the position adjustment is completed, the laser head upper fixing plate is fixed through the fastening screw 202.
Furthermore, the top of the right frame 31 is also provided with a laser cleaning baffle 21, the laser cleaning baffle 21 is arranged opposite to the laser cleaning head 200, and the laser cleaning head 200 and the laser cleaning baffle 21 are respectively positioned at two sides of the steel wire rope 1; the laser cleaning baffle 21 is used for protecting laser operation and preventing laser from overflowing to hurt people or objects, and forms a laser cleaning and protecting device 2 together with the laser cleaning device 20.
The laser cleaning baffle 21 is fixed on the right frame 31 and mainly comprises a baffle vertical support plate 212, a transverse support rod 210, a baffle 211 and the like; specifically, the laser cleaning baffle 21 is fixed on the right frame 31 through a baffle vertical support plate 212 and a bolt, two baffle transverse support rods 210 are installed on the baffle vertical support plate 212, and a baffle 211 is installed on the baffle transverse support rods 210.
In the embodiment, the laser cleaning device 20 is adopted, so that the quality and the efficiency of cleaning the dirt of the steel wire rope 1 are improved.
In this embodiment, the climbing device comprises a driving trolley 4 and a driven trolley 8, wherein the driving trolley 4 and the driven trolley 8 are respectively arranged on the left frame 30 and the right frame 31, and the driving trolley 4 and the driven trolley 8 can be mutually matched to clamp the steel wire rope 1 together.
The driving trolley 4 is mainly composed of a direct current speed reduction motor 401, a driving gear 403, a driven gear 409, a motor mounting plate 402, a driving trolley arc wheel 404, an arc wheel side mounting plate 405, a driving trolley fixing plate 400, a middle arc wheel supporting shaft 406, a lower arc wheel supporting shaft 407, a driven gear supporting shaft 410, a lower arc wheel supporting plate 408 and the like. Specifically, the drive cart fixing plate 400, the motor mounting plate 402, the lower arc wheel support plate 408, the arc wheel side mounting plate 405, and the like constitute a drive cart frame, and the drive cart 4 is fixed to the left frame 30 by the drive cart frame. The four drive cart arc wheels 404 are arranged at equal intervals and fixed together by two front and rear arc wheel side mounting plates 405 and a support shaft 406. The arc-shaped wheel 404 of the uppermost driving trolley is a driving wheel, the rest are driven wheels, the driving wheel and the driven gear 409 are coaxially arranged, rotation is realized under the transmission of the direct-current speed reduction motor 401, the driving gear 403 and the driven gear 409, and the whole robot is driven to realize up-and-down motion by utilizing the friction force generated between the arc-shaped wheel and the steel wire rope 1 under the coordination of the driven trolley 8.
The driven trolley 8 mainly comprises a driven trolley arc wheel 800, an arc wheel side supporting plate 803, an upper arc wheel supporting plate 807, a lower arc wheel supporting plate 812, a middle arc wheel supporting shaft 802, an upper arc wheel supporting shaft 801, a lower arc wheel supporting shaft 804, a pressing plate 811, a spring 805, a pressing block 810, a guide shaft 806, a position adjusting screw 808, a lever 809 and the like.
The driven cart 8 is mounted on the right frame 31 through an upper arc wheel support plate 807, a lower arc wheel support plate 812, an upper arc wheel support shaft 801, a lower arc wheel support shaft 804, and a guide shaft 806. The driven trolley 8 is a left-right movable mechanism, and drives the position adjusting screw 808 to move left and right by manually rotating the lever 809, so as to press or loosen the pressing block 810, the pressing plate 811, the spring 805, the upper arc-shaped wheel supporting plate 807, the lower arc-shaped wheel supporting plate 812 and the like, thereby realizing the distance adjustment between the driven trolley arc-shaped wheel 800 and the steel wire rope 1. The four driven trolley arc wheels 800 are all driven wheels, are arranged at equal intervals, are matched with the left driving trolley 4 through the action of the spring 805, and are pressed on the steel wire rope 1 together.
This embodiment adopts wheeled structure, improves the speed and the controllability of robot climbing, adopts the adjustable clamping mechanism of spring, can be according to the size of load, and the clamp force between manual adjustment robot and the wire rope 1 adopts the multiple round structure, has increased the area of action of wheel with wire rope 1, has reduced the extrusion influence of wheel to wire rope 1.
In this embodiment, the circumferential motion device 7 is mainly composed of three parts, namely a front fixed wheel device 70, a rear fixed wheel device 71 and a lateral movable wheel device 72, wherein the wheels on the front fixed wheel device 70, the rear fixed wheel device 71 and the lateral movable wheel device 72 are distributed at equal angles along the circumferential direction of the steel wire rope 1, the front fixed wheel device 70 and the rear fixed wheel device 71 are mounted on the left frame 30 through a small roller fixing plate 701, and the lateral movable wheel device 72 is mounted on the right frame 31 through a large roller fixing plate 721.
Specifically, a small roller support plate 700 is mounted on the small roller fixing plate 701, a small roller support shaft 702 is mounted on the small roller support plate 700, and a small roller 703 is mounted on the small roller support shaft 702. The front fixed wheel device 70 and the rear fixed wheel device 71 are vertically arranged in a front-back symmetrical mode and lean against the steel wire rope 1 to play a role in guiding.
The large roller fixing plate 721 is provided with a large roller movable plate 722, the large roller movable plate 722 is an L-shaped structure with a slot at the bottom, and a motor supporting plate 728, a guide rod 726, a fastening screw 723 and the like are installed on the large roller movable plate. One end of the guide bar 726 is fixed on the large roller movable plate 722, and the other end is in a free state, and can extend and retract along the hole of the vertical plate on the right side of the large roller fixed plate 721, on which a pressing spring 727 and a position adjusting plate 724 are installed. The fastening screw 723 can fix the large roller moving plate 722 and the large roller fixing plate 721 together, and the position adjusting plate 724 can adjust the left and right positions through the position adjusting bolt 725, so as to press or loosen the pressing spring 727, thereby driving the large roller moving plate 722 to move left and right. Install circumferential motion gear motor 729 and big gyro wheel 720 on the motor backup pad 728, circumferential motion gear motor 729 and big gyro wheel 720 coaxial arrangement, under circumferential motion gear motor 729's drive, through the friction between big or small gyro wheel and wire rope 1, drive whole robot and realize circumferential direction rotary motion, realize that 360 degrees of wire rope 1 do not have the dead angle and wash.
In the embodiment, an anti-deviation device 6 is further installed at the bottom in the robot frame 3 to prevent the steel wire rope 1 from separating from the robot back and forth; the deviation preventing device 6 comprises a front deviation preventing wheel 60 and a rear deviation preventing wheel 61, and the front deviation preventing wheel 60 and the rear deviation preventing wheel 61 are respectively and symmetrically arranged on the left frame 30 and the right frame 31 through bolts; the front deviation prevention wheel 60 and the rear deviation prevention wheel 61 each include a roller 600, the roller 600 is rotatably mounted on a roller mounting bracket 601 through a roller fixing shaft 602, and the roller mounting bracket 601 is mounted on the robot frame 3.
In this embodiment, after the left frame 30 and the right frame 31 are enclosed, the four driving trolley arc wheels 404 on the driving trolley 4 and the four driven trolley arc wheels 800 on the driven trolley 8 cooperate with each other to press the steel wire rope 1 together. Meanwhile, the front deviation prevention wheel 60 arranged on the left frame 30 is matched with the rear deviation prevention wheel 61 arranged on the right frame 31 in a front-back mode, and a closed area is formed by the front deviation prevention wheel, the driving trolley arc-shaped wheel 404 and the driven trolley arc-shaped wheel 800, so that the robot is prevented from being separated from the steel wire rope 1 during movement. When the direct current gear motor 401 on the driving trolley 4 rotates, the robot is driven to climb up and down along the steel wire rope 1 by the transmission of the driving gear 403 and the driven gear 409 and the friction force between the arc wheel and the steel wire rope 1, so that the laser cleaning and protecting device 2 is driven to realize the up-and-down cleaning operation of the steel wire rope 1.
When the left frame 30 and the right frame 31 are enclosed, the front fixed wheel device 70 and the rear fixed wheel device 71 of the circumferential driving device 7 installed on the left frame 30 are matched with the lateral movable wheel device 72 installed on the right frame 31 to compress the steel wire rope 1 together. When the circumferential motion gear motor 729 on the circumferential motion device 7 rotates, the robot can be driven to rotate left and right around the steel wire rope 1 by means of the friction force between the small roller 703, the large roller 720 and the steel wire rope 1, so that the laser cleaning and protecting device 2 is driven to realize the circumferential cleaning operation of the steel wire rope 1.
In this embodiment, the bottom still installs down safe decelerator 9 in robot frame 3 for reduce the descending speed of robot, and make it hold wire rope 1 tightly under the outage state, play the guard action, prevent that the robot from crashing. Specifically, the descending safety reduction gear 9 is mounted on the lower cross bar of the inner cavity of the right frame 31 through a fixing plate 903, a supporting block 904 is mounted on the fixing plate 903, and two studs 907 are mounted on the supporting block 904. A clamping lever 901 is attached to the stud 907, and the clamping lever 901 is rotatable around the stud 907. The V-shaped rubber block 900 is arranged at the front part of the clamping rod 901, the electromagnet 905 is arranged at the tail part of the clamping rod, and the steel wire rope 1 is clamped and loosened by utilizing the lever principle through electrifying and powering off the electromagnet 905. The upper portion of the clamping rod 901 is provided with a pressing plate 906 through a stud 907, so that the clamping rod 901 is limited, and the phenomenon that the clamping rod tilts up and down when clamping a steel wire rope is prevented.
In this embodiment, the control box 5 is fixed on the left frame 30, and is provided with components such as a dc power supply, a motor driving system, a control system, and a wireless transmission system for performing remote wireless remote control operation on the entire robot.
It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.
The principle and the implementation mode of the utility model are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the utility model; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the utility model.
Claims (10)
1. The utility model provides a sluice wire rope climbing and laser cleaning work robot which characterized in that: the method comprises the following steps:
the climbing device can clamp the steel wire rope and move up and down along the steel wire rope;
the robot frame comprises a left frame and a right frame, one end of the left frame is hinged with one end of the right frame, the other end of the left frame is detachably connected with the other end of the right frame, and the climbing device is installed in the robot frame;
the circumferential driving device is mounted at the top of the robot frame and can drive the robot frame to rotate around the steel wire rope;
when the left frame and the right frame are enclosed, the climbing device and the circumferential driving device can clamp the steel wire rope, and when the left frame and the right frame are opened, the climbing device and the circumferential driving device can release the steel wire rope;
the laser cleaning device is arranged at the top of the robot frame and can clean the steel wire rope;
the control box, the control box install in the robot frame, climbing device, circumference drive arrangement and laser belt cleaning device all with the control box is connected.
2. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the one end of left side frame with the one end of right side frame is articulated through the hinge, left side frame with right side frame can wind the hinge rotates, the other end of left side frame with the other end of right side frame passes through the locking buckle and connects.
3. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the laser cleaning device comprises a laser cleaning head, and the laser cleaning head is arranged at the top of the left frame;
the laser cleaning baffle is installed at the top of the right frame, the laser cleaning baffle and the laser cleaning head are arranged oppositely, and the laser cleaning head and the laser cleaning baffle are respectively located on two sides of the steel wire rope.
4. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the climbing device comprises a driving trolley and a driven trolley, the driving trolley and the driven trolley are respectively arranged on the left frame and the right frame, and the driving trolley and the driven trolley can be matched with each other to clamp the steel wire rope together.
5. The floodgate wire rope climbing and laser cleaning operation robot of claim 4, characterized in that: the driving trolley comprises a driving trolley frame, and a direct current speed reducing motor, a driving gear, a driven gear and a driving trolley arc wheel which are arranged on the driving trolley frame; the driving trolley frame is arranged on the left frame, an output shaft of the direct-current speed reduction motor is fixedly connected with the driving gear, the driving gear is meshed with the driven gear, a plurality of arc-shaped wheels of the driving trolley are arranged at equal intervals from top to bottom, and the arc-shaped wheel of the driving trolley at the top is coaxially arranged with the driven gear and is connected with the driven gear through a driven gear supporting shaft;
driven dolly include driven dolly frame and rotate install in driven dolly arc wheel on the driven dolly frame, driven dolly arc wheel from top to bottom is equidistant to be provided with a plurality of, driven dolly arc wheel with drive dolly arc wheel can mutually support, presss from both sides tightly jointly wire rope.
6. The floodgate wire rope climbing and laser cleaning operation robot of claim 5, characterized in that: the driven trolley frame is also connected with a pressing plate, a guide shaft is arranged on the driven trolley frame, the guide shaft penetrates through the pressing plate, a spring is sleeved on the guide shaft, and the spring is positioned between the driven trolley frame and the pressing plate; the middle part of the pressing plate is provided with a pressing block, the pressing block is connected with an adjusting screw rod, and the end part of the adjusting screw rod is connected with a lever.
7. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the circumferential motion device comprises a front fixed wheel device, a rear fixed wheel device and a lateral movable wheel device, the front fixed wheel device and the rear fixed wheel device are symmetrically arranged at the top of the left frame, the lateral movable wheel device is arranged at the top of the right frame, and the front fixed wheel device, the rear fixed wheel device and the lateral movable wheel device are distributed at equal angles along the circumferential direction of the steel wire rope;
the front fixed wheel device and the rear fixed wheel device both comprise small rollers, the small rollers are vertically and rotatably mounted on small roller supporting plates through small roller supporting shafts, the small roller supporting plates are mounted on small roller fixing plates, and the small roller fixing plates are mounted at the tops of the left frames;
the lateral movable wheel device comprises a large idler wheel, the large idler wheel is vertically and rotatably arranged on a motor supporting plate, the large idler wheel is also connected with a circumferential motion speed reducing motor, and the circumferential motion speed reducing motor is arranged on the motor supporting plate; the motor supporting plate is arranged on a large roller movable plate, the large roller movable plate is arranged on a large roller fixing plate, and the large roller fixing plate is arranged at the top of the right frame;
big gyro wheel fly leaf is connected with the position control board through the guide bar, the cover is equipped with compression spring on the guide bar, compression spring is located big gyro wheel fly leaf with between the position control board, the position control board is connected with position adjusting bolt.
8. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the robot frame is characterized in that an anti-deviation device is further mounted at the bottom in the robot frame and comprises a front anti-deviation wheel and a rear anti-deviation wheel, and the front anti-deviation wheel and the rear anti-deviation wheel are symmetrically mounted on the left frame and the right frame respectively;
the front anti-deviation wheel and the rear anti-deviation wheel respectively comprise a roller, the roller is rotatably installed on a roller installation frame through a roller fixing shaft, and the roller installation frame is installed on the robot frame.
9. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the robot frame is characterized in that a descending safety speed reducer is further mounted at the bottom in the robot frame and comprises a V-shaped rubber block, a clamping rod, a fixing plate, a supporting block, an electromagnet and a pressing plate; the fixing plate is fixed on the right frame, the supporting block is installed at the upper part of the fixing plate, two studs are installed on the supporting block, clamping rods are installed on the two studs, and the clamping rods can rotate around the studs; the front portion of the clamping rod is provided with the V-shaped rubber block, the tail portion of the clamping rod is provided with the electromagnet, and the upper portion of the clamping rod is provided with the pressing plate.
10. The floodgate wire rope climbing and laser cleaning operation robot of claim 1, characterized in that: the control box is fixed on the left frame, and a direct-current power supply, a motor driving system, a control system and a wireless transmission system are arranged in the control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122593217.6U CN216030852U (en) | 2021-10-27 | 2021-10-27 | Sluice wire rope climbing and laser cleaning operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122593217.6U CN216030852U (en) | 2021-10-27 | 2021-10-27 | Sluice wire rope climbing and laser cleaning operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN216030852U true CN216030852U (en) | 2022-03-15 |
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| CN202122593217.6U Active CN216030852U (en) | 2021-10-27 | 2021-10-27 | Sluice wire rope climbing and laser cleaning operation robot |
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| CN (1) | CN216030852U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115971135A (en) * | 2022-09-28 | 2023-04-18 | 嵊泗县建设工程管理中心(嵊泗县建筑安全管理中心) | Adsorption type cleaning device with self-adaptive adjusting and stretching functions for cross-sea bridge inhaul cable |
-
2021
- 2021-10-27 CN CN202122593217.6U patent/CN216030852U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115971135A (en) * | 2022-09-28 | 2023-04-18 | 嵊泗县建设工程管理中心(嵊泗县建筑安全管理中心) | Adsorption type cleaning device with self-adaptive adjusting and stretching functions for cross-sea bridge inhaul cable |
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